2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 /******************************************************************************
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97 * NOTE 1: This project provides two demo applications. A simple blinky style
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98 * project, and a more comprehensive test and demo application. The
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99 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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100 * between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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101 * in main.c. This file implements the comprehensive test and demo version.
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103 * NOTE 2: This file only contains the source code that is specific to the
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104 * full demo. Generic functions, such FreeRTOS hook functions, and functions
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105 * required to configure the hardware, are defined in main.c.
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107 ******************************************************************************
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109 * main_full() creates all the demo application tasks and software timers, then
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110 * starts the scheduler. The web documentation provides more details of the
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111 * standard demo application tasks, which provide no particular functionality,
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112 * but do provide a good example of how to use the FreeRTOS API.
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114 * In addition to the standard demo tasks, the following tasks and tests are
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115 * defined and/or created within this file:
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117 * "FreeRTOS+CLI command console" - The command console is access using the USB
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118 * CDC driver provided by Atmel. It is accessed through the USB connector
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119 * marked J1 SAMA5D4 Xplained board. Type "help" to see a list of registered
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120 * commands. The FreeRTOS+CLI license is different to the FreeRTOS license, see
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121 * http://www.FreeRTOS.org/cli for license and usage details. The default baud
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124 * "Reg test" tasks - These fill both the core and floating point registers with
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125 * known values, then check that each register maintains its expected value for
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126 * the lifetime of the task. Each task uses a different set of values. The reg
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127 * test tasks execute with a very low priority, so get preempted very
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128 * frequently. A register containing an unexpected value is indicative of an
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129 * error in the context switching mechanism.
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131 * "Check" task - The check task period is initially set to three seconds. The
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132 * task checks that all the standard demo tasks, and the register check tasks,
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133 * are not only still executing, but are executing without reporting any errors.
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134 * If the check task discovers that a task has either stalled, or reported an
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135 * error, then it changes its own execution period from the initial three
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136 * seconds, to just 200ms. The check task also toggles an LED each time it is
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137 * called. This provides a visual indication of the system status: If the LED
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138 * toggles every three seconds, then no issues have been discovered. If the LED
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139 * toggles every 200ms, then an issue has been discovered with at least one
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143 /* Standard includes. */
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146 /* Kernel includes. */
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147 #include "FreeRTOS.h"
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149 #include "timers.h"
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150 #include "semphr.h"
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152 /* Standard demo application includes. */
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154 #include "semtest.h"
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155 #include "dynamic.h"
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156 #include "BlockQ.h"
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157 #include "blocktim.h"
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158 #include "countsem.h"
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159 #include "GenQTest.h"
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160 #include "recmutex.h"
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162 #include "partest.h"
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163 #include "comtest2.h"
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164 #include "serial.h"
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165 #include "TimerDemo.h"
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166 #include "QueueOverwrite.h"
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167 #include "IntQueue.h"
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168 #include "EventGroupsDemo.h"
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170 /* Priorities for the demo application tasks. */
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171 #define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1UL )
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172 #define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2UL )
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173 #define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 3UL )
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174 #define mainFLOP_TASK_PRIORITY ( tskIDLE_PRIORITY )
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175 #define mainCDC_COMMAND_CONSOLE_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2UL )
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176 #define mainCOM_TEST_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
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177 #define mainCHECK_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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178 #define mainQUEUE_OVERWRITE_PRIORITY ( tskIDLE_PRIORITY )
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180 /* The initial priority used by the UART command console task. */
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181 #define mainUART_COMMAND_CONSOLE_TASK_PRIORITY ( configMAX_PRIORITIES - 2 )
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183 /* The LED used by the check timer. */
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184 #define mainCHECK_LED ( 0 )
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186 /* A block time of zero simply means "don't block". */
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187 #define mainDONT_BLOCK ( 0UL )
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189 /* The period after which the check timer will expire, in ms, provided no errors
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190 have been reported by any of the standard demo tasks. ms are converted to the
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191 equivalent in ticks using the portTICK_PERIOD_MS constant. */
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192 #define mainNO_ERROR_CHECK_TASK_PERIOD ( 3000UL / portTICK_PERIOD_MS )
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194 /* The period at which the check timer will expire, in ms, if an error has been
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195 reported in one of the standard demo tasks. ms are converted to the equivalent
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196 in ticks using the portTICK_PERIOD_MS constant. */
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197 #define mainERROR_CHECK_TASK_PERIOD ( 200UL / portTICK_PERIOD_MS )
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199 /* Parameters that are passed into the register check tasks solely for the
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200 purpose of ensuring parameters are passed into tasks correctly. */
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201 #define mainREG_TEST_TASK_1_PARAMETER ( ( void * ) 0x12345678 )
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202 #define mainREG_TEST_TASK_2_PARAMETER ( ( void * ) 0x87654321 )
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204 /* The base period used by the timer test tasks. */
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205 #define mainTIMER_TEST_PERIOD ( 50 )
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207 /*-----------------------------------------------------------*/
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210 * Called by main() to run the full demo (as opposed to the blinky demo) when
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211 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
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213 void main_full( void );
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216 * The check task, as described at the top of this file.
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218 static void prvCheckTask( void *pvParameters );
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221 * Register check tasks, and the tasks used to write over and check the contents
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222 * of the FPU registers, as described at the top of this file. The nature of
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223 * these files necessitates that they are written in an assembly file, but the
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224 * entry points are kept in the C file for the convenience of checking the task
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227 static void prvRegTestTaskEntry1( void *pvParameters );
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228 extern void vRegTest1Implementation( void );
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229 static void prvRegTestTaskEntry2( void *pvParameters );
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230 extern void vRegTest2Implementation( void );
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233 * Register commands that can be used with FreeRTOS+CLI. The commands are
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234 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
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236 extern void vRegisterSampleCLICommands( void );
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239 * The task that manages the FreeRTOS+CLI input and output.
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241 extern void vUSBCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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244 * A high priority task that does nothing other than execute at a pseudo random
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245 * time to ensure the other test tasks don't just execute in a repeating
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248 static void prvPseudoRandomiser( void *pvParameters );
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250 /*-----------------------------------------------------------*/
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252 /* The following two variables are used to communicate the status of the
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253 register check tasks to the check task. If the variables keep incrementing,
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254 then the register check tasks has not discovered any errors. If a variable
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255 stops incrementing, then an error has been found. */
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256 volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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258 /*-----------------------------------------------------------*/
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260 void main_full( void )
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262 /* Start all the other standard demo/test tasks. They have not particular
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263 functionality, but do demonstrate how to use the FreeRTOS API and test the
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265 vStartInterruptQueueTasks();
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266 vStartDynamicPriorityTasks();
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267 vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
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268 vCreateBlockTimeTasks();
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269 vStartCountingSemaphoreTasks();
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270 vStartGenericQueueTasks( tskIDLE_PRIORITY );
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271 vStartRecursiveMutexTasks();
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272 vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
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273 vStartMathTasks( mainFLOP_TASK_PRIORITY );
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274 vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
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275 vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
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276 vStartEventGroupTasks();
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278 /* Start the tasks that implements the command console on the UART, as
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279 described above. */
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280 vUSBCommandConsoleStart( mainCDC_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
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282 /* Register the standard CLI commands. */
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283 vRegisterSampleCLICommands();
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285 /* Create the register check tasks, as described at the top of this file */
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286 xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
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287 xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );
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289 /* Create the task that just adds a little random behaviour. */
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290 xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
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292 /* Create the task that performs the 'check' functionality, as described at
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293 the top of this file. */
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294 xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
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296 /* The set of tasks created by the following function call have to be
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297 created last as they keep account of the number of tasks they expect to see
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299 vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
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301 /* Start the scheduler. */
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302 vTaskStartScheduler();
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304 /* If all is well, the scheduler will now be running, and the following
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305 line will never be reached. If the following line does execute, then
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306 there was either insufficient FreeRTOS heap memory available for the idle
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307 and/or timer tasks to be created, or vTaskStartScheduler() was called from
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308 User mode. See the memory management section on the FreeRTOS web site for
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309 more details on the FreeRTOS heap http://www.freertos.org/a00111.html. The
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310 mode from which main() is called is set in the C start up code and must be
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311 a privileged mode (not user mode). */
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314 /*-----------------------------------------------------------*/
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316 static void prvCheckTask( void *pvParameters )
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318 TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
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319 TickType_t xLastExecutionTime;
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320 static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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321 unsigned long ulErrorFound = pdFALSE;
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323 /* Just to stop compiler warnings. */
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324 ( void ) pvParameters;
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326 /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
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327 works correctly. */
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328 xLastExecutionTime = xTaskGetTickCount();
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330 /* Cycle for ever, delaying then checking all the other tasks are still
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331 operating without error. The onboard LED is toggled on each iteration.
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332 If an error is detected then the delay period is decreased from
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333 mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD. This has the
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334 effect of increasing the rate at which the onboard LED toggles, and in so
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335 doing gives visual feedback of the system status. */
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338 /* Delay until it is time to execute again. */
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339 vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );
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341 /* Check all the demo tasks (other than the flash tasks) to ensure
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342 that they are all still running, and that none have detected an error. */
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343 if( xAreIntQueueTasksStillRunning() != pdTRUE )
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345 ulErrorFound = pdTRUE;
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348 if( xAreMathsTaskStillRunning() != pdTRUE )
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350 ulErrorFound = pdTRUE;
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353 if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
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355 ulErrorFound = pdTRUE;
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358 if( xAreBlockingQueuesStillRunning() != pdTRUE )
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360 ulErrorFound = pdTRUE;
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363 if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
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365 ulErrorFound = pdTRUE;
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368 if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
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370 ulErrorFound = pdTRUE;
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373 if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
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375 ulErrorFound = pdTRUE;
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378 if( xIsCreateTaskStillRunning() != pdTRUE )
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380 ulErrorFound = pdTRUE;
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383 if( xAreSemaphoreTasksStillRunning() != pdTRUE )
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385 ulErrorFound = pdTRUE;
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388 if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
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390 ulErrorFound = pdTRUE;
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393 if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
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395 ulErrorFound = pdTRUE;
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398 if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
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400 ulErrorFound = pdTRUE;
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403 if( xAreEventGroupTasksStillRunning() != pdPASS )
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405 ulErrorFound = pdTRUE;
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408 /* Check that the register test 1 task is still running. */
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409 if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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411 ulErrorFound = pdTRUE;
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413 ulLastRegTest1Value = ulRegTest1LoopCounter;
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415 /* Check that the register test 2 task is still running. */
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416 if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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418 ulErrorFound = pdTRUE;
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420 ulLastRegTest2Value = ulRegTest2LoopCounter;
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422 /* Toggle the check LED to give an indication of the system status. If
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423 the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
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424 everything is ok. A faster toggle indicates an error. */
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425 vParTestToggleLED( mainCHECK_LED );
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427 if( ulErrorFound != pdFALSE )
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429 /* An error has been detected in one of the tasks - flash the LED
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430 at a higher frequency to give visible feedback that something has
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431 gone wrong (it might just be that the loop back connector required
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432 by the comtest tasks has not been fitted). */
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433 xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
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437 /*-----------------------------------------------------------*/
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439 static void prvRegTestTaskEntry1( void *pvParameters )
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441 /* Although the regtest task is written in assembler, its entry point is
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442 written in C for convenience of checking the task parameter is being passed
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444 if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
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446 /* The reg test task also tests the floating point registers. Tasks
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447 that use the floating point unit must call vPortTaskUsesFPU() before
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448 any floating point instructions are executed. */
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449 vPortTaskUsesFPU();
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451 /* Start the part of the test that is written in assembler. */
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452 vRegTest1Implementation();
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455 /* The following line will only execute if the task parameter is found to
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456 be incorrect. The check timer will detect that the regtest loop counter is
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457 not being incremented and flag an error. */
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458 vTaskDelete( NULL );
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460 /*-----------------------------------------------------------*/
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462 static void prvRegTestTaskEntry2( void *pvParameters )
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464 /* Although the regtest task is written in assembler, its entry point is
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465 written in C for convenience of checking the task parameter is being passed
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467 if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
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469 /* The reg test task also tests the floating point registers. Tasks
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470 that use the floating point unit must call vPortTaskUsesFPU() before
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471 any floating point instructions are executed. */
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472 vPortTaskUsesFPU();
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474 /* Start the part of the test that is written in assembler. */
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475 vRegTest2Implementation();
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478 /* The following line will only execute if the task parameter is found to
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479 be incorrect. The check timer will detect that the regtest loop counter is
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480 not being incremented and flag an error. */
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481 vTaskDelete( NULL );
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483 /*-----------------------------------------------------------*/
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485 static void prvPseudoRandomiser( void *pvParameters )
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487 const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );
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488 volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;
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490 /* A few minor port tests before entering the randomiser loop.
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492 At this point interrupts should be enabled. */
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493 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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495 /* The CPU does not have an interrupt mask register, so critical sections
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496 have to globally disable interrupts. Therefore entering a critical section
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497 should leave the I bit set. */
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498 taskENTER_CRITICAL();
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499 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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501 /* Nest the critical sections. */
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502 taskENTER_CRITICAL();
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503 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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505 /* After yielding the I bit should still be set. Note yielding is possible
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506 in a critical section as each task maintains its own critical section
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507 nesting count so some tasks are in critical sections and others are not -
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508 however this is *not* something task code should do! */
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510 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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512 /* The I bit should not be cleared again until both critical sections have
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514 taskEXIT_CRITICAL();
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516 configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
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517 taskEXIT_CRITICAL();
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518 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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520 configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
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522 /* This task does nothing other than ensure there is a little bit of
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523 disruption in the scheduling pattern of the other tasks. Normally this is
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524 done by generating interrupts at pseudo random times. */
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527 ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
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528 ulValue = ( ulNextRand >> 16UL ) & 0xffUL;
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530 if( ulValue < ulMinDelay )
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532 ulValue = ulMinDelay;
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535 vTaskDelay( ulValue );
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537 while( ulValue > 0 )
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539 __asm volatile( "NOP" );
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540 __asm volatile( "NOP" );
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541 __asm volatile( "NOP" );
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542 __asm volatile( "NOP" );
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